Yes, unused kernel modules will consume some memory, depending of course on their individual size, but should not consume CPU time. If you can't stop the kmods from being automatically loaded during start-up, another way to automatically remove those modules is to add a line in /etc/rc.d/rc.local:modprobe -r <module-name>

Those are all sound-related modules, and almost certainly cannot be unloaded due to inter-dependencies: you cannot unload modules that are in use, or required by other modules. If they are listed by lsmod, they probably are needed by the sound driver(s). Look ate the list of dependencies returned by lsmod: